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Unmanned surface vessel linear tracking method based on fuzzy PID

A surface craft, fuzzy technology, applied in the direction of control, instrumentation, adaptive control, etc. to find the target

Inactive Publication Date: 2014-05-07
SHANGHAI MARITIME UNIVERSITY
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Problems solved by technology

At present, the research on the autonomous navigation of the unmanned surface vehicle is being carried out. The literature [10] adopts the PID control method to realize the straight line path tracking control of the unmanned surface vehicle, but the PID controller is not stable in the initial heading angle of the unmanned surface vehicle and the inclination angle of the tracking path. When the deviation is large, there will be a large turn

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  • Unmanned surface vessel linear tracking method based on fuzzy PID
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  • Unmanned surface vessel linear tracking method based on fuzzy PID

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Embodiment Construction

[0038] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below in conjunction with specific illustrations:

[0039] like figure 1 As shown, the GPS device is installed on the unmanned surface vehicle, which can dynamically obtain the heading angle θ and the current latitude and longitude coordinates (X, Y). The fuzzy PID controller is mainly divided into four parts, which are distance calculator, angle deviation comparator, PID controller and fuzzy reasoning module.

[0040] figure 1 Among them, R is the specified path, and e is the distance error between the unmanned surface vehicle and the target path. The fuzzy reasoning module uses the distance deviation e and the heading angle deviation Adjust the PID parameter value online, and its output is the value of each PID parameter. The PID controller uses the adjusted PID parameters and the current...

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Abstract

The invention discloses an unmanned surface vessel linear tracking method based on a fuzzy PID. The method includes the following steps of dynamically obtaining a course angle of an unmanned surface vessel and real-time longitude and latitude coordinate values by means of a GPS device, calculating a distance deviation and an angle deviation by means of a vector cross product method, dynamically adjusting a parameter value of the PID by means of the fuzzy relationship between the distance deviation and the PID parameter and the angle deviation and the PID parameter, calculating control voltages U of a left electric propeller and a right electric propeller, and pushing the surface vessel to advance after control voltages are applied to a motor. As is shown by simulation and experiment results, the method has good tracking effects on the condition that a straight slope, a USV starting point and a starting angle are different, has good adaptability, can effectively avoid U-turn phenomena, and is superior to a PID controller in linear tacking performance.

Description

[technical field] [0001] The invention relates to an intelligent unmanned platform, in particular to a linear path tracking method for an unmanned surface craft. [Background technique] [0002] Unmanned surface vehicle is an intelligent unmanned platform that can perform various tasks in complex marine environments [1] , it can replace humans to complete some dangerous tasks in the ocean. In the 1990s, a large number of foreign research projects on USV appeared [2] , countries such as the US and Israel lead the way [3-5] , such as the "Spartan" of the United States and the "Protector" of Israel, they can sail autonomously or be controlled by remote control, and are equipped with cameras, navigation radar, GPS and other equipment. On the civilian side, the AUV Laboratory of the Massachusetts Institute of Technology (MIT) has developed a series of surface robots with funding from the Ocean Fund project for various tasks. Inspired by the MIT research project, the United Kin...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/12
Inventor 杨钊王建华吴玉平付翔谭胜强
Owner SHANGHAI MARITIME UNIVERSITY
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